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<div class="title">flight_task_wp_point_pure_persuit.cpp</div>  </div>
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<a href="flight__task__wp__point__pure__persuit_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;flight_task/flight_task.h&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="keywordtype">int</span> FIGHT_TASK_WP_POINT_PURE_PERSUIT::Pure_pusuit(FLY_PLAN_T &amp;fly_plan</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;                                ,<span class="keywordtype">double</span> &amp;target_x</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;                                ,<span class="keywordtype">double</span> &amp;target_y</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;                                ,<span class="keywordtype">double</span> &amp;target_yaw){</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    copter_local_pos_att_t attpos =<a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose();</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    <span class="keywordtype">double</span> k=<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;Pure_Pursuit_K;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    <span class="keywordtype">double</span> v = sqrt(pow(<a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().pos_vx,2)+pow(<a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().pos_vy,2));</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="keywordtype">double</span> Lfc=<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;Pure_Pursuit_LFC;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <span class="keywordtype">double</span> min_dist=calc_dist(WP(attpos.pos_x,attpos.pos_y,0),fly_plan.wps[0]);</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keywordtype">int</span> idx=0;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1 ; i&lt;fly_plan.wps.size();i++){</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;        <span class="keywordtype">double</span> tmp = calc_dist(WP(attpos.pos_x,attpos.pos_y,0),fly_plan.wps[i]);</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;        <span class="keywordflow">if</span>(tmp&lt;min_dist){</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;            min_dist=tmp;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;            idx=i;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        }</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    }</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordtype">double</span> Lf=k * v + Lfc;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordtype">double</span> L=0;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordflow">while</span>(Lf&gt;L &amp;&amp; (idx+1&lt;fly_plan.size())){</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        L+=calc_dist(fly_plan[idx+1],fly_plan[idx]);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        idx++;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    }</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    target_x = fly_plan[idx].x;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    target_y = fly_plan[idx].y;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    target_yaw = atan2(target_y-attpos.pos_y,target_x-attpos.pos_x);</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;current_idx=idx;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    fly_plan.current_idx = idx;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordflow">if</span>(idx==fly_plan.size()-1&amp;&amp;calc_dist(WP(attpos.pos_x,attpos.pos_y,0),*(fly_plan.wps.end()-1))&lt;0.3){</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        <span class="comment">// target_yaw=angle_add(atan2(fly_plan[idx-1].y - fly_plan[idx].y,fly_plan[idx-1].x - fly_plan[idx].x),M_PI);</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;FIGHT_TASK_WP_POINT_PURE_PERPUIT:%f ,y:%f COMPLETE.&quot;</span>,fly_plan[idx].x,fly_plan[idx].y);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        <span class="keywordflow">return</span> 3;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    }</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;}</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;FLIGHT_TASK* FIGHT_TASK_WP_POINT_PURE_PERSUIT::loop(){</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    ros::Rate Loop(100);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>-&gt;yaw  = <a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().yaw;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>-&gt;x=<a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().pos_x;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>-&gt;y=<a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().pos_y;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>-&gt;z=<a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().pos_z;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordtype">double</span> last_x=<a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().pos_x,last_y=<a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().pos_y,last_z=<a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().pos_z,last_yaw=<a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().yaw;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;flight_task_started=<span class="keyword">true</span>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">while</span>(ros::ok()){</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;copter_state==UNIVERSAL_STATE::COPTER_STATE::STATE_LOITER){</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;            <a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>-&gt;x = last_x;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;            <a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>-&gt;y = last_y;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;            <a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>-&gt;y = last_z;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;            <a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>-&gt;yaw = last_yaw;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;            <span class="keywordflow">if</span>(Pure_pusuit(*<a class="code" href="flow__attacher_8cpp.html#a366e576f575aecac53b009b4ad964a46">_sub_fly_wps</a>,<a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>-&gt;x,<a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>-&gt;y,<a class="code" href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a>-&gt;yaw)==3){</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                <span class="keywordflow">break</span>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;            }</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;            last_x = <a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().pos_x;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;            last_y = <a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().pos_y;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;            last_z = <a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().pos_z;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;            last_yaw = <a class="code" href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a>-&gt;get_pose().yaw;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        }</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        Loop.sleep();</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    }</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;flight_task_started=<span class="keyword">false</span>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div><div class="ttc" id="main_8cpp_html_a5ac4b17db930392c756a747dc7f98e5f"><div class="ttname"><a href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a></div><div class="ttdeci">#define rout</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00030">main.cpp:30</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a628de36a04ace954e48e1001ae9346f5"><div class="ttname"><a href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a></div><div class="ttdeci">Parameters * _p</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00003">flow_attacher.cpp:3</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a6557f092608aa563dc84689f10acf889"><div class="ttname"><a href="flow__attacher_8cpp.html#a6557f092608aa563dc84689f10acf889">_uav_ifs</a></div><div class="ttdeci">UAVCONTROL_INTERFACE * _uav_ifs</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00005">flow_attacher.cpp:5</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a366e576f575aecac53b009b4ad964a46"><div class="ttname"><a href="flow__attacher_8cpp.html#a366e576f575aecac53b009b4ad964a46">_sub_fly_wps</a></div><div class="ttdeci">FLY_PLAN_T * _sub_fly_wps</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00007">flow_attacher.cpp:7</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_ab0db892883304e1f5de7a967b5656f11"><div class="ttname"><a href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a></div><div class="ttdeci">UNIVERSAL_STATE * _unity</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00004">flow_attacher.cpp:4</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a97f2b4fc44b97adec2ed85c9354d3422"><div class="ttname"><a href="flow__attacher_8cpp.html#a97f2b4fc44b97adec2ed85c9354d3422">_target_pos_flow</a></div><div class="ttdeci">positon_Local_NED_t * _target_pos_flow</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00006">flow_attacher.cpp:6</a></div></div>
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